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IEEE International Conference on robotics and Biomimetics

作者： Feng Zhang Yuping Gu Zebin Wang Shuai Yuan Yongliang Yang School of Electrical and Control Engineering Shenyang Jianzhu University Shenyang Liaoning China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Liaoning China School of Computer Science and Engineering Shenyang Jianzhu University Shenyang Liaoning China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

In swarm robotics, most of the control algorithms are inspired by the behaviors of animal swarms. The capability gap between robots and animals, however, hinders the reliability of these algorithms. Toward developing reliable algorithms of robot swarms, a promising solution is learning from the collective behaviors of low-intelligent natural swarms, such as cell collectives and molecular assemblies. Here, we proposed a programmable control system inspired by protein folding. Using our homemade RoboFold platform, we demonstrated a protein-folding inspired programmable control method for robot swarms. By programming and designing the sequence of a thread of protein-like robots, the developed system can mimic the formation of hierarchical structures in robot swarms as the three-level of protein structures. We quantitatively characterized the specific features of self-organized morphologies. The experimental results together demonstrated the feasibility of this method. To summarize, this work successfully translated the principles of protein-folding into programming methods to control the morphology of robot swarms. Considering that the protein folding problem is essentially a physicochemical problem, this system is not only beneficial for the control of swarm robots but also has the potential to develop into a tool for studying the protein folding problem.

关键词： Proteins Vibrations Programmable control Animals Morphology Swarm robotics Programming control systems Robustness Robots

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A delay system method to design of event-triggered control of networked control systems

A delay system method to design of event-triggered control o...

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IEEE Conference on Decision and control

作者： Dong Yue Engang Tian Qing-Long Han Department of Control Science and Engineering and the Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Hubei 430074 China School of Electrical and Automation Engineering Nanjing Normal University 78 Bancang Street Nanjing 210042 China Center for Intelligent and Networked Systems and the School of Information and Communication Technology Central Queensland University Rockhampton Qld 4702 Australia

ISBN: (纸本)9781612848006

The event-triggered H_(infinity) control design is investigated for networked control systems with uncertainties and transmission delays. A novel event-triggering scheme is proposed, which has some advantages over traditional ones with a continuous detector. Considering the effect of the transmission delay, a delay system model for the analysis is firstly constructed. Then, based on the model and Lyapunov functional method, criteria for the stability with an H_(infinity) norm bound and criteria for the co-design of both the feedback gain and the trigger parameters are derived. In order to solve the feedback gain and the trigger parameters, the linear matrix inequality technique is employed. From the simulation example, it can be concluded that the proposed event-triggering scheme is superior to some other event-triggering schemes in some existing literature.

关键词： feedback gain networked control systems Event trigger Delay systems Scheme Co-design control systems design control

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Observability Analysis and Reduced-Order Observer Design for a Super-Coiled Polymer-Driven Robotic Eye

Observability Analysis and Reduced-Order Observer Design for...

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IEEE Conference on Decision and control

作者： Sunil Kumar Rajendran Qi Wei Ningshi Yao Feitian Zhang Department of Electrical and Computer Engineering George Mason University Fairfax VA USA Department of Bioengineering George Mason University Fairfax VA USA Department of Advanced Manufacturing and Robotics and the State Key Laboratory of Turbulence and Complex Systems College of Engineering Peking University Beijing China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

With the aid of a robotic eye platform, several ocular motor disorders such as strabismus can be studied by ophthalmologists and biomedical researchers to better under-stand the biomechanisms of the human eye. Our previous work modeled a 2-DOF robotic eye driven by Super-Coiled Polymer (SCP) artificial muscles and presented a Deep Deterministic Policy Gradient (DDPG) learning-based controller. The control policy requires access to the full system states that include the orientation of the robotic eye and temperature changes of the SCPs. While the angular orientations of the robotic eye can be determined using embedded sensors or image-processing of the visual feed, it is quite laborious and expensive to measure the temperatures of the slender SCP muscles without affecting robot dynamics. To address this problem, this paper designs a linear reduced-order state observer based on the linearization of the nonlinear dynamics of the robotic eye. The linearized model is analytically shown to be fully observable along any trajectory within the operation range. To quantify the local observability of the dynamical system, local unobservability indices and local estimation condition numbers are determined along trajectories of the system states. The performance of the designed observer is tested through simulation in both open-loop and closed-loop foveation control of the robotic eye.

关键词： Temperature sensors Temperature measurement Visualization Observers Robot sensing systems Trajectory Nonlinear dynamical systems

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Light-Assisted MACE Method for the control of Silicon Nanowire Morphology

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IOP Conference Series: Materials Science and Engineering 2018年第3期394卷

作者： Zhaoqing Dong Weibin Rong Ye Zhang Xijun Deng State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 China

As a kind of one-dimensional nanostructure, silicon nanowires have a very wide range of applications in photovoltaic devices, electrical devices, and biosensors. The morphology control of nanowire arrays greatly affects the performance of nanowire arrays. In this paper, we introduce the light-assisted MACE method to prepare nanowire arrays. Through a large number of experiments, the effects of different light intensities and light wavelengths on the morphology of the formed silicon nanowire arrays are analyzed. At the same time, the degree of aggregation of nanowires is taken as the characterization parameter of the morphological characteristics, the change rule of clustering density and the change rule of the etching rate under different illumination power and wavelength conditions are qualitatively analyzed. Finally, we make a preliminary exploration and analysis of the reasons for this appearance.

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An Efficient Trajectory Planner for Car-Like Robots on Uneven Terrain

An Efficient Trajectory Planner for Car-Like Robots on Uneve...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Long Xu Kaixin Chai Zhichao Han Hong Liu Chao Xu Yanjun Cao Fei Gao State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China Huzhou Institute of Zhejiang University Huzhou China Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an Shaanxi China School of information and electrical engineering Hangzhou City University Hangzhou China

Autonomous navigation of ground robots on uneven terrain is being considered in more and more tasks. However, uneven terrain will bring two problems to motion planning: how to assess the traversability of the terrain and how to cope with the dynamics model of the robot associated with the terrain. The trajectories generated by existing methods are often too conservative or cannot be tracked well by the controller since the second problem is not well solved. In this paper, we propose terrain pose mapping to describe the impact of terrain on the robot. With this mapping, we can obtain the SE(3) state of the robot on uneven terrain for a given state in SE(2). Then, based on it, we present a trajectory optimization framework for car-like robots on uneven terrain that can consider both of the above problems. The trajectories generated by our method conform to the dynamics model of the system without being overly conservative and yet able to be tracked well by the controller. We perform simulations and real-world experiments to validate the efficiency and trajectory quality of our algorithm.

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Anchor-based spatio-temporal attention 3D convolutional networks for dynamic 3D point cloud sequences

arXiv

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arXiv 2020年

作者： Wang, Guangming Chen, Muyao Liu, Hanwen Yang, Yehui Liu, Zhe Wang, Hesheng The Department of Automation Institute of Medical Robotics Key Laboratory of System Control and Information Processing Ministry of Education Key Laboratory of Marine Intelligent Equipment System of Ministry of Education Shanghai Jiao Tong University Shanghai200240 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology China The Department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai200240 China The Department of Computer Science and Technology University of Cambridge

With the rapid development of measurwement technology, LiDAR and depth cameras are widely used in the perception of the 3D environment. Recent learning based methods for robot perception most focus on the image or video, but deep learning methods for dynamic 3D point cloud sequences are underexplored. Therefore, developing efficient and accurate perception method compatible with these advanced instruments is pivotal to autonomous driving and service robots. An Anchor-based Spatio-Temporal Attention 3D Convolution operation (ASTA3DConv) is proposed in this paper to process dynamic 3D point cloud sequences. The proposed convolution operation builds a regular receptive field around each point by setting several virtual anchors around each point. The features of neighborhood points are firstly aggregated to each anchor based on the spatio-temporal attention mechanism. Then, anchor-based 3D convolution is adopted to aggregate these anchors' features to the core points. The proposed method makes better use of the structured information within the local region and learns spatio-temporal embedding features from dynamic 3D point cloud sequences. Anchor-based Spatio-Temporal Attention 3D Convolutional Neural Networks (ASTA3DCNNs) are built for classification and segmentation tasks based on the proposed ASTA3DConv and evaluated on action recognition and semantic segmentation tasks. The experiments and ablation studies on MSRAction3D and Synthia datasets demonstrate the superior performance and effectiveness of our method for dynamic 3D point cloud sequences. Our method achieves the state-of-the-art performance among the methods with dynamic 3D point cloud sequences as input on MSRAction3D and Synthia datasets. Copyright © 2020, The Authors. All rights reserved.

关键词： Embeddings

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Artificial Intelligence Course Design: iSTREAM-based Visual Cognitive Smart Vehicles

Artificial Intelligence Course Design: iSTREAM-based Visual ...

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IEEE Symposium on Intelligent Vehicle

作者： Xiaoyan Gong Yilin Wu Zifan Ye Xiwei Liu State Key Laboratory of Management and Control for Complex Systems Intelligent Education Institute of Qingdao Academy of Intelligent Industries Qingdao China Beijing NO. 13 School Beijing China NO.2 high school of Beijing Normal University Beijing China

ISBN: (纸本)9781538644539

New intelligent era calls for new learners and thus urgently needs a series of artificial intelligence. As a good educational platform for teaching artificial intelligence, smart cars have aroused concern and practices of all parties. However, at present, most courses and training pay more attention to basic knowledge and technology of smart cars, seldom to training based on artificial intelligence curriculum system and comprehensive competency integrating science, technology, art and management. Therefore, based on concept of iSTREAM (intelligence for Science, Technology, robotics, Engineering, Art, and Management) and Raspberry intelligent vehicle teaching platform, this paper introduced a smart car-themed artificial intelligence courses including basic courses, specialized courses, specialized technical courses and elective courses. This course can guide learners to develop smart cars based on visual cognition, in-depth learning, VR and 3D printing integrated artistic creativity. It combines disciplines such as science, technology, art, games and management to upgrade a single knowledge and technology course into a comprehensive competency course that integrates knowledge, skills, emotion and management. Practice in Beijing NO.13 and NO.101 High School shows that this course allows students to experience scientific research process, learn artificial intelligence related knowledge and skills, understand scientific way of thinking and scientific research methods, stimulate learners' responsibility and scientific passion, and cultivate leadership skills through self-learning and partly project management.

关键词： Automobiles Artificial intelligence Art Hardware Software Project management Intelligent vehicles

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Design and Implementation of a Group control Communication System for Intelligent Rubber Tapping Robots

Design and Implementation of a Group Control Communication S...

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Chinese control Conference (CCC)

作者： Fuchun Liu Dong Jiang Xiaoyang Chen Xujian Chen Shengfeng Huang Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong School of Automation Science and Engineering South China University of Technology Guangzhou P. R. China Beijing Normal University Hong Kong Baptist United International College ZhuHai P. R. China

With the development and promotion of electric rubber tapping equipment, China has gradually mechanized rubber tapping, but the degree of automation could be higher. This paper designs an intelligent rubber tapping remote monitoring system based on Internet of Things(IoT) technology that is applied to single-motor driven rubber tapping robots and uploads the status data of robots in the rubber plantation to the cloud database for storage, data analysis, and display in the backend management system in order to realize the intelligent and digital upgrade of rubber tapping robots. It can achieve remote group control of the robots in the rubber plantation at the same time using a cloud-based human-machine interface. The system consists of a terminal electronic control subsystem, a communication subsystem, and a cloud-based backend management system. This system uses LoRa RF technology and Narrowband IoT(NBIoT) technology to design a star-shaped network to connect the robots to the cloud for unified management and provide data support for later tapping decisions.

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Fuzzy rate analysis of operators and its applications in linear spaces

arXiv

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arXiv 2020年

作者： Zhang, Yijin Li, Honggang Jin, Maoming Lin, Zongbing Key Lab of Intelligent Analysis and Decision on Complex Systems Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China Pass College of Chongqing Technology and Business University Chongqing401520 China Institute of Nonlinear Analysis Research Changjiang Normal University Chongqing400803 China School of Mathematics and Computer Science Panzhihua University Panzhihua617000 China

In this paper, a new concept, the fuzzy rate of an operator in linear spaces is proposed for the very first time. Some properties and basic principles of it are studied. Fuzzy rate of an operator B which is specific i... 详细信息

关键词： Membership functions

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Sigmoid function aided Zhang dynamics control for output tracking of time-varying linear system with bounded input

Sigmoid function aided Zhang dynamics control for output tra...

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Chinese control Conference (CCC)

作者： Yunong Zhang Deyang Zhang Bibbin Qiu Jinjin Wang Jian Li School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou P. R. China Ministry of Education Key Laboratory of Autonomous Systems and Networked Control Guangzhou P. R. China SYSU-CMU Shunde International Joint Research Institute Foshan P. R. China

This paper investigates the output-tracking control of time-varying linear (TVL) system. Note that the input is always limited in a range due to actuator physical constraints or energy-saving purposes. By combining the Zhang dynamics (ZD) and the sigmoid function, an effective controller, termed sigmoid function aided ZD (SFAZD) controller, is designed for tracking the TVL system. Simulative verifications substantiate that the proposed SFAZD controller can achieve accurate tracking results, and limit the input in the range during the tracking process.

关键词： Time-varying systems Trajectory Actuators Limiting Neural networks Linear systems

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